【作者】 张付祥；

【导师】 王树国； 付宜利；

【作者基本信息】 哈尔滨工业大学 ， 机械电子工程， 2007， 博士

【摘要】 随着机器人技术的进步及其应用领域的不断扩展,康复机器人作为智能机器人的一个分支正在逐步进入我们的生活,并给康复理论的发展和临床康复技术的进步带来了新的动力。目前,康复机器人技术正在日益成为机器人领域的研究热点。人手外伤或术后的功能恢复是手外科医师必须面对的问题。目前,连续被动活动(Continuous Passive Motion,简称CPM)理论正在进入临床实践并为广大康复医师所日渐接受。为了给手外伤患者提供一个用于手功能康复治疗的CPM机,给手外科康复医师提供一个临床研究的仪器设备,提高手功能康复治疗的自动化、智能化水平,结合国家自然科学基金“智能促动手(指)功能恢复医疗仿生机械手的研究”(批准号:60275033),针对连续被动活动装置在手功能康复中应用的特点与难点,本文围绕创伤手指康复机械手的康复原理、CPM装置的构型设计与尺度综合、机械系统设计、康复机械手的运动学和动力学、传感系统设计及传感器信号处理方法、康复机械手嵌入式系统设计、康复模式和系统实践等关键技术进行了深入的研究,最终成功研制了创伤手指功能康复机械手系统。本文首先研究了康复机械手机械系统。根据临床康复的需要,设计了康复机械手康复治疗方案,并在人手功能分析的基础上,设计了一个能对人手指的多个关节进行康复运动的CPM装置的构型。该CPM装置组成的基本单元是平面四杆机构,针对这一结构特点提出一种基于机械性能的平面四杆机构尺度综合方法。康复机械手机械系统选用仿生肌肉的驱动技术,整个系统划分成仿生手指和仿生肌肉两个模块,两个模块通过仿生肌肉联接构成完整的康复机械手机械系统。其次研究了康复机械手的运动学和动力学的分析方法。针对康复机械手对抓握训练的需求,将康复机械手CPM装置和人的手指看作一个整体,进行一体化分析。通过研究应用旋量理论建立机器人运动学和动力学方程的方法,在对平面四杆机构和空间六杆机构进行运动学和动力学分析的基础上,提出了基于旋量理论的康复机械手运动学和动力学方法。然后研究了康复机械手传感系统。根据康复机械手CPM装置的特点,采用传统的应变测量原理,将关节力矩传感器及其信号调理电路集成在杆件上;采用霍尔位置传感器实现关节位置的无接触测量,其信号调理电路集成在CPM装置的关节上。根据关节力/位传感器信号频率较低的特点,在对主要干扰源进行分析的基础上,提出了在时间域以实际输入信号和理想输出信号的均方差最小为优化目标的无限长冲激响应(IIR)数字滤波器的优化设计方法。再次研究了康复机械手嵌入式系统设计。在康复机械手嵌入式系统设计中采用软硬件协同设计的方法。嵌入式系统硬件设计采用了功能模块化的方法,硬件系统的核心是基于串行外设接口(SPI)总线的数据采集模块和电机控制模块。结合嵌入式系统硬件,软件系统采用分级并行竞争控制结构。最后,对建立的仿生机械手系统进行了实验研究。包括系统性能评估实验和康复运动实验,并对康复模式进行了探索。更多还原

【Abstract】 With the development of robotics and the expand of its application, rehabilitation robots, as one branch of robots, are coming into our daily life step by step, and spur the development of rehabilitation theory and the advancement of the clinic-rehabilitation technology. Rehabilitation robotics has gradually become the hotspot in the research field of robotics.Hand-function rehabilitation resulting from hand-trauma or post-operation is a problem which hand-surgeons must face. Now the theory of Continuous Passive Motion has its clinical application step by step, and it is accepted by more and more rehabilitation doctors. In order to provide a hand CPM machine to the patients, an apparatus to doctors for clinical study, we develop a rehabilitation manipulator system. This work is supported by the National Natural Science Foundation of China“Research on the Inteligent Motivated Clinical Bionic Manipulator for the Function Rehabilitation of Injured Hands (Fingers)”(under Grant 60275033). The work is aimed to solve the key problems during the development of the system such as: the rehabilitation theory of the rehabilitation manipulator for injured fingers; structure types design and dimension synthesis of the CPM mechanism; analysis method of the rehabilitation manipupator’s kinematics and dynamics; sensor system design and signal processing of the joint torque/position sensors; embedded system design; rehabilitation mode and clinical practice. The results of the research work will surely improve the level of automatization and intelligentize in hand function rehabilitation.Firstly, we develop the mechanism system of the rehabilitation manipulator and design its rehabilitation Rx on the clinical demand. On demand of the Rx we make functional analysis of human-hand. Then we accordingly designed a structure type of the CPM mechanism which enables multi-joints of the fingers to make continuous passive motion. The base structure of the CPM mechanism is planar four-bar linkage. According to its structural characteristic, we bring forward a dimension synthesis method of planar four-bar linkage based on the mechanical property. The bionic muscle technology is adopted in the system. The whole system is divided into to two modules: one is bionic finger module and the other is bionic muscle module. Linked by the bionic muscles the two modules compose the whole rehabilitation manipulator mechanism system.Secondly, we make kinematics and dynamics analysis of the rehabilitation manipulator. To meet the requirement of grabing exercise, we regard the CPM mechanism of the rehabilitation manipulator and human finger as a whole mechanism to make analysis. By summarizing the method of establishing kinematics and dynamics equations of robots by applying screw theory, we put forward a method of kinematics and dynamics analysis for the rehabilitation manipulator on the basis of screw theory after making the kinematics and dynamics analysis of planar four-bar linkage and dimensional six-bar linkage.Thirdly, we develop the sesor system of the rehabilitation manipulator system. According to the characteristic of the CPM mechanism, we selectively adopt traditional strain measurement principle and integrate the joint torque sensors with their signal processing circuits on the members. We use hall sensors to achieve the untouched measurement of joints’position, their signal processing circuits also being integrated on the joint of the CPM mechanism. The signals’frequency of the joints’torque and positon is very low; we accordingly bring forward an optimum design method of IIR digital filter with the mean square deviation of actual input signals and anticipant output signals in time domain as the optimum target based on the analyis of the main interference source.Fourthly, we develop the rehabilitation manipulator embedded system. We adopt the method of hardware/software codesign. The hadware design of the embedded system adopts the method of function modularization. The core of the hardware system is data acquisition modular and motor control modular based on SPI bus. Combined with the embedded system hardware, the software system is realized by hierarchical parallel competitibe control architecture.Finally, we conduct some tests of the rehabilitation manipulator system, which include systemperformance tests and clinic tests. The rehabilitation mode is also studied.更多还原